[driver] vl53 spi driver without tx buffer, fails with DMA

Author: hshose

examples/nucleo_h723zg/vl53/vl53l8_spi/main.cpp

@@ -26,7 +26,8 @@ extern "C" {
 
 using namespace Board;
 
-using SpiMaster = SpiMaster2_Dma<Dma1::Channel0, Dma1::Channel1>;
+// using SpiMaster = SpiMaster2_Dma<Dma1::Channel0, Dma1::Channel1>;
+using SpiMaster = SpiMaster2;
 using Cs = GpioC0;
 using Mosi = GpioB15;
 using Miso = GpioC2;

ext/vl53/vl53_transport.hpp

@@ -82,7 +82,6 @@ class Vl53SpiTransport : public modm::SpiDevice<SpiMaster>, public Vl53Transport
 	resetSensor() override;
 
 private:
-	uint8_t tx_buffer[VL53LMZ_COMMS_CHUNK_SIZE + 2];
 	uint8_t rx_buffer[VL53LMZ_COMMS_CHUNK_SIZE + 2];
 
 	static uint16_t

ext/vl53/vl53_transport_impl.hpp

@@ -41,16 +41,15 @@ Vl53SpiTransport<SpiMaster, Cs, Lpn, VL53LMZ_COMMS_CHUNK_SIZE>::writeMulti(uint1
 
 		const uint16_t temp = RegisterAddress + position;
 
-		tx_buffer[0] = SPI_WRITE_MASK(temp) >> 8;
-		tx_buffer[1] = SPI_WRITE_MASK(temp) & 0xFF;
-
-		for (uint32_t i = 0; i < data_size; i++) { tx_buffer[i + 2] = p_values[position + i]; }
-
-		data_size += 2;
+		uint8_t addr_buffer[2];
+		addr_buffer[0] = SPI_WRITE_MASK(temp) >> 8;
+		addr_buffer[1] = SPI_WRITE_MASK(temp) & 0xFF;
 
 		modm::this_fiber::poll([&] { return this->acquireMaster(); });
 		Cs::reset();
-		SpiMaster::transfer(&tx_buffer[0], nullptr, data_size);
+		// SpiMaster::transfer(&tx_buffer[0], nullptr, data_size);
+		SpiMaster::transfer(addr_buffer, nullptr, sizeof(addr_buffer));
+		SpiMaster::transfer(&p_values[position], nullptr, data_size);
 
 		if (this->releaseMaster()) { Cs::set(); }
 	}
@@ -82,12 +81,13 @@ Vl53SpiTransport<SpiMaster, Cs, Lpn, VL53LMZ_COMMS_CHUNK_SIZE>::readMulti(uint16
 
 		const uint16_t temp = RegisterAddress + position;
 
-		tx_buffer[0] = SPI_READ_MASK(temp) >> 8;
-		tx_buffer[1] = SPI_READ_MASK(temp) & 0xFF;
+		uint8_t addr_buffer[2];
+		addr_buffer[0] = SPI_WRITE_MASK(temp) >> 8;
+		addr_buffer[1] = SPI_WRITE_MASK(temp) & 0xFF;
 
 		modm::this_fiber::poll([&] { return this->acquireMaster(); });
 		Cs::reset();
-		SpiMaster::transfer(&tx_buffer[0], &rx_buffer[0], data_size + 2);
+		SpiMaster::transfer(&addr_buffer[0], &rx_buffer[0], data_size + 2);
 		// SpiMaster::transfer(nullptr, p_values + position, data_size);
 		if (this->releaseMaster()) { Cs::set(); }
 
@@ -155,7 +155,7 @@ Vl53I2cTransport<I2cMaster, Lpn>::writeByte(uint16_t RegisterAddress, uint8_t va
 	data_write[0] = (RegisterAddress >> 8) & 0xFF;
 	data_write[1] = RegisterAddress & 0xFF;
 	data_write[2] = value & 0xFF;
-	
+
 	const auto status = I2cDevice<I2cMaster>::write(&data_write[0], 3);
 	return static_cast<uint8_t>(not status);
 }